diff --git a/tmp/print_ros_versions.output.txt b/tmp/print_ros_versions.output.txt
new file mode 100644
index 00000000..3cc05699
--- /dev/null
+++ b/tmp/print_ros_versions.output.txt
@@ -0,0 +1,211 @@
+1.2.1-1jammy.20240217.051433	ros-humble-action-msgs
+0.12.7-2jammy.20230718.194353	ros-humble-ament-clang-format
+1.3.5-1jammy.20230623.021436	ros-humble-ament-cmake
+0.12.7-2jammy.20230718.201035	ros-humble-ament-cmake-clang-format
+0.12.7-2jammy.20230718.200900	ros-humble-ament-cmake-copyright
+1.3.5-1jammy.20230622.235746	ros-humble-ament-cmake-core
+0.12.7-2jammy.20230718.201103	ros-humble-ament-cmake-cppcheck
+0.12.7-2jammy.20230718.201101	ros-humble-ament-cmake-cpplint
+1.3.5-1jammy.20230623.015340	ros-humble-ament-cmake-export-definitions
+1.3.5-1jammy.20230623.015545	ros-humble-ament-cmake-export-dependencies
+1.3.5-1jammy.20230623.015332	ros-humble-ament-cmake-export-include-directories
+1.3.5-1jammy.20230623.015708	ros-humble-ament-cmake-export-interfaces
+1.3.5-1jammy.20230623.015637	ros-humble-ament-cmake-export-libraries
+1.3.5-1jammy.20230623.015648	ros-humble-ament-cmake-export-link-flags
+1.3.5-1jammy.20230623.015711	ros-humble-ament-cmake-export-targets
+0.12.7-2jammy.20230718.201056	ros-humble-ament-cmake-flake8
+1.3.5-1jammy.20230623.020719	ros-humble-ament-cmake-gen-version-h
+1.3.5-1jammy.20230623.022102	ros-humble-ament-cmake-gmock
+1.3.5-1jammy.20230623.020522	ros-humble-ament-cmake-gtest
+1.3.5-1jammy.20230623.014202	ros-humble-ament-cmake-include-directories
+1.3.5-1jammy.20230623.014206	ros-humble-ament-cmake-libraries
+0.12.7-2jammy.20230718.195801	ros-humble-ament-cmake-lint-cmake
+0.12.7-2jammy.20230718.201047	ros-humble-ament-cmake-pep257
+0.12.7-2jammy.20230718.200929	ros-humble-ament-cmake-pycodestyle
+1.3.5-1jammy.20230623.015829	ros-humble-ament-cmake-pytest
+1.3.5-1jammy.20230623.014224	ros-humble-ament-cmake-python
+0.10.0-3jammy.20230718.201448	ros-humble-ament-cmake-ros
+1.3.5-1jammy.20230623.015600	ros-humble-ament-cmake-target-dependencies
+1.3.5-1jammy.20230623.015636	ros-humble-ament-cmake-test
+0.12.7-2jammy.20230718.201054	ros-humble-ament-cmake-uncrustify
+1.3.5-1jammy.20230623.015145	ros-humble-ament-cmake-version
+0.12.7-2jammy.20230718.201034	ros-humble-ament-cmake-xmllint
+0.12.7-2jammy.20230718.193654	ros-humble-ament-copyright
+0.12.7-2jammy.20230718.192123	ros-humble-ament-cppcheck
+0.12.7-2jammy.20230718.194405	ros-humble-ament-cpplint
+0.12.7-2jammy.20230718.192407	ros-humble-ament-flake8
+1.4.0-2jammy.20230718.201459	ros-humble-ament-index-cpp
+1.4.0-2jammy.20230718.194400	ros-humble-ament-index-python
+0.12.7-2jammy.20230718.192138	ros-humble-ament-lint
+0.12.7-2jammy.20230718.192128	ros-humble-ament-lint-auto
+0.12.7-2jammy.20230718.194401	ros-humble-ament-lint-cmake
+0.12.7-2jammy.20230718.201350	ros-humble-ament-lint-common
+0.14.0-4jammy.20220421.093117	ros-humble-ament-package
+0.12.7-2jammy.20230718.192659	ros-humble-ament-pep257
+0.12.7-2jammy.20230718.192143	ros-humble-ament-pycodestyle
+0.12.7-2jammy.20230718.194410	ros-humble-ament-uncrustify
+0.12.7-2jammy.20230718.194401	ros-humble-ament-xmllint
+1.2.1-1jammy.20240217.050949	ros-humble-builtin-interfaces
+2.2.0-3jammy.20230721.194119	ros-humble-class-loader
+1.2.1-1jammy.20240217.061858	ros-humble-composition-interfaces
+2.5.1-1jammy.20240415.140809	ros-humble-compressed-depth-image-transport
+2.5.1-1jammy.20240415.140949	ros-humble-compressed-image-transport
+1.4.1-1jammy.20240217.035658	ros-humble-console-bridge-vendor
+3.2.1-1jammy.20240217.061328	ros-humble-cv-bridge
+0.10.4-1jammy.20240217.025716	ros-humble-cyclonedds
+0.10.0-3jammy.20240217.025412	ros-humble-domain-coordinator
+0.1.1-4jammy.20230718.201058	ros-humble-eigen3-cmake-module
+1.0.24-2jammy.20240217.024447	ros-humble-fastcdr
+2.6.6-1jammy.20230807.150657	ros-humble-fastrtps
+2.2.1-1jammy.20230718.201624	ros-humble-fastrtps-cmake-module
+1.2.0-3jammy.20230718.201241	ros-humble-foonathan-memory-vendor
+4.2.3-1jammy.20240217.052935	ros-humble-geometry-msgs
+1.10.9004-4jammy.20230623.021528	ros-humble-gmock-vendor
+1.10.9004-4jammy.20230623.020022	ros-humble-gtest-vendor
+2.0.5-1jammy.20240217.025528	ros-humble-iceoryx-binding-c
+2.0.5-1jammy.20240217.024457	ros-humble-iceoryx-hoofs
+2.0.5-1jammy.20240217.024825	ros-humble-iceoryx-posh
+0.0.2-2jammy.20230718.201237	ros-humble-ignition-cmake2-vendor
+0.0.2-2jammy.20230718.201432	ros-humble-ignition-math6-vendor
+3.1.9-1jammy.20240327.154629	ros-humble-image-transport
+2.3.2-2jammy.20240217.090423	ros-humble-interactive-markers
+3.3.0-1jammy.20240217.081850	ros-humble-joy
+0.0.5-1jammy.20230718.201652	ros-humble-keyboard-handler
+2.4.0-2jammy.20240217.075239	ros-humble-laser-geometry
+1.0.4-1jammy.20230718.195748	ros-humble-launch
+0.19.5-2jammy.20230807.155643	ros-humble-launch-ros
+1.0.4-1jammy.20230718.200852	ros-humble-launch-xml
+1.0.4-1jammy.20230718.200847	ros-humble-launch-yaml
+3.1.1-1jammy.20230623.023207	ros-humble-libcurl-vendor
+1.3.1-1jammy.20240217.065216	ros-humble-libstatistics-collector
+1.2.2-2jammy.20230721.194118	ros-humble-libyaml-vendor
+1.2.1-1jammy.20230721.200142	ros-humble-lifecycle-msgs
+2.1.0-3jammy.20230721.204246	ros-humble-map-msgs
+0.15.9-1jammy.20240217.040558	ros-humble-mcap-vendor
+4.3.3-2jammy.20230807.170810	ros-humble-message-filters
+4.2.3-1jammy.20240217.055916	ros-humble-nav-msgs
+0.2.5-1jammy.20230718.201716	ros-humble-orocos-kdl-vendor
+2.0.2-2jammy.20230623.021904	ros-humble-osrf-pycommon
+3.9.0-1jammy.20240217.080008	ros-humble-plotjuggler
+2.1.0-1jammy.20240223.154148	ros-humble-plotjuggler-ros
+5.1.0-3jammy.20230721.194533	ros-humble-pluginlib
+2.4.2-1jammy.20230623.023432	ros-humble-pybind11-vendor
+0.10.0-2jammy.20230718.201759	ros-humble-python-cmake-module
+1.1.2-1jammy.20240217.040113	ros-humble-python-qt-binding
+2.2.3-2jammy.20240217.040331	ros-humble-qt-dotgraph
+2.2.3-2jammy.20240217.040454	ros-humble-qt-gui
+2.2.3-2jammy.20240217.045510	ros-humble-qt-gui-cpp
+5.3.7-1jammy.20240217.064213	ros-humble-rcl
+5.3.7-1jammy.20240217.065215	ros-humble-rcl-action
+1.2.1-1jammy.20240217.051454	ros-humble-rcl-interfaces
+5.3.7-1jammy.20240217.065215	ros-humble-rcl-lifecycle
+2.3.1-1jammy.20240217.043520	ros-humble-rcl-logging-interface
+2.3.1-1jammy.20240217.044531	ros-humble-rcl-logging-spdlog
+5.3.4-3jammy.20230721.194818	ros-humble-rcl-yaml-param-parser
+16.0.8-1jammy.20240217.065743	ros-humble-rclcpp
+16.0.8-1jammy.20240217.075142	ros-humble-rclcpp-action
+16.0.8-1jammy.20240217.080142	ros-humble-rclcpp-components
+3.3.12-1jammy.20240217.065750	ros-humble-rclpy
+2.4.2-1jammy.20240217.042125	ros-humble-rcpputils
+5.1.5-1jammy.20240217.040317	ros-humble-rcutils
+3.1.1-1jammy.20230718.201832	ros-humble-resource-retriever
+6.1.1-1jammy.20240217.042100	ros-humble-rmw
+1.3.4-1jammy.20240217.062033	ros-humble-rmw-cyclonedds-cpp
+1.6.0-2jammy.20240217.051355	ros-humble-rmw-dds-common
+6.2.3-1jammy.20230807.152615	ros-humble-rmw-fastrtps-cpp
+6.2.3-1jammy.20230807.152142	ros-humble-rmw-fastrtps-shared-cpp
+2.8.2-1jammy.20240217.063749	ros-humble-rmw-implementation
+6.1.1-1jammy.20230718.201829	ros-humble-rmw-implementation-cmake
+3.2.2-1jammy.20230623.015149	ros-humble-ros-environment
+1.0.2-2jammy.20230623.002807	ros-humble-ros-workspace
+0.18.7-1jammy.20230807.160206	ros-humble-ros2action
+0.15.7-1jammy.20230807.182054	ros-humble-ros2bag
+0.18.7-1jammy.20230807.155751	ros-humble-ros2cli
+0.1.1-4jammy.20240217.081520	ros-humble-ros2cli-common-extensions
+0.18.7-1jammy.20230807.165355	ros-humble-ros2component
+0.18.7-1jammy.20230807.160255	ros-humble-ros2doctor
+0.18.7-1jammy.20230807.160211	ros-humble-ros2interface
+0.19.5-2jammy.20230807.160432	ros-humble-ros2launch
+0.18.7-1jammy.20230807.170554	ros-humble-ros2lifecycle
+0.18.7-1jammy.20230807.155929	ros-humble-ros2multicast
+0.18.7-1jammy.20230807.160233	ros-humble-ros2node
+0.18.7-1jammy.20230807.160727	ros-humble-ros2param
+0.18.7-1jammy.20230807.160218	ros-humble-ros2pkg
+0.18.7-1jammy.20230807.160431	ros-humble-ros2run
+0.18.7-1jammy.20230807.160408	ros-humble-ros2service
+0.18.7-1jammy.20230807.160037	ros-humble-ros2topic
+0.15.9-1jammy.20240217.113750	ros-humble-rosbag2
+0.15.7-1jammy.20230807.174950	ros-humble-rosbag2-compression
+0.15.7-1jammy.20230807.175411	ros-humble-rosbag2-compression-zstd
+0.15.7-1jammy.20230807.172152	ros-humble-rosbag2-cpp
+0.15.7-1jammy.20230721.201007	ros-humble-rosbag2-interfaces
+0.15.7-1jammy.20230807.181757	ros-humble-rosbag2-py
+0.15.9-1jammy.20240217.095431	ros-humble-rosbag2-storage
+0.15.7-1jammy.20230807.171124	ros-humble-rosbag2-storage-default-plugins
+0.15.9-1jammy.20240217.095903	ros-humble-rosbag2-storage-mcap
+0.15.7-1jammy.20230807.175658	ros-humble-rosbag2-transport
+1.2.1-1jammy.20230721.201013	ros-humble-rosgraph-msgs
+3.1.5-2jammy.20240217.035129	ros-humble-rosidl-adapter
+3.1.5-2jammy.20230718.195745	ros-humble-rosidl-cli
+3.1.5-2jammy.20230718.202258	ros-humble-rosidl-cmake
+1.2.0-2jammy.20240217.050405	ros-humble-rosidl-default-generators
+1.2.0-2jammy.20240217.050356	ros-humble-rosidl-default-runtime
+3.1.5-2jammy.20230721.194207	ros-humble-rosidl-generator-c
+3.1.5-2jammy.20230721.194801	ros-humble-rosidl-generator-cpp
+0.14.4-1jammy.20230721.195342	ros-humble-rosidl-generator-py
+3.1.5-2jammy.20230718.201902	ros-humble-rosidl-parser
+3.1.5-2jammy.20240217.041504	ros-humble-rosidl-runtime-c
+3.1.5-2jammy.20240217.042057	ros-humble-rosidl-runtime-cpp
+0.9.3-1jammy.20240217.052858	ros-humble-rosidl-runtime-py
+2.0.1-1jammy.20240217.042649	ros-humble-rosidl-typesupport-c
+2.0.1-1jammy.20240217.043731	ros-humble-rosidl-typesupport-cpp
+2.2.2-2jammy.20240217.044528	ros-humble-rosidl-typesupport-fastrtps-c
+2.2.2-2jammy.20240217.043520	ros-humble-rosidl-typesupport-fastrtps-cpp
+3.1.5-2jammy.20240217.040302	ros-humble-rosidl-typesupport-interface
+3.1.5-2jammy.20240217.042058	ros-humble-rosidl-typesupport-introspection-c
+3.1.5-2jammy.20240217.043527	ros-humble-rosidl-typesupport-introspection-cpp
+0.2.1-2jammy.20230718.195747	ros-humble-rpyutils
+1.3.0-1jammy.20240217.072808	ros-humble-rqt-graph
+1.1.7-1jammy.20240217.070503	ros-humble-rqt-gui
+1.1.7-1jammy.20240217.075044	ros-humble-rqt-gui-cpp
+1.1.7-1jammy.20240217.071740	ros-humble-rqt-gui-py
+1.2.0-2jammy.20240327.162754	ros-humble-rqt-image-view
+11.2.7-1jammy.20230728.143611	ros-humble-rviz-assimp-vendor
+11.2.12-1jammy.20240327.163723	ros-humble-rviz-common
+11.2.12-1jammy.20240327.170357	ros-humble-rviz-default-plugins
+11.2.7-1jammy.20230728.143613	ros-humble-rviz-ogre-vendor
+11.2.7-1jammy.20230728.151737	ros-humble-rviz-rendering
+11.2.12-1jammy.20240327.181147	ros-humble-rviz2
+3.1.0-3jammy.20230623.023457	ros-humble-sdl2-vendor
+4.2.3-1jammy.20240217.060543	ros-humble-sensor-msgs
+4.2.3-1jammy.20230721.204353	ros-humble-sensor-msgs-py
+0.15.9-1jammy.20240217.034446	ros-humble-shared-queues-vendor
+1.3.1-1jammy.20240217.040412	ros-humble-spdlog-vendor
+0.15.7-1jammy.20230721.192618	ros-humble-sqlite3-vendor
+0.10.4-2jammy.20240217.073631	ros-humble-sros2
+1.2.1-1jammy.20230721.200405	ros-humble-statistics-msgs
+4.2.3-1jammy.20240217.051453	ros-humble-std-msgs
+4.2.3-1jammy.20240217.050958	ros-humble-std-srvs
+0.1.1-3jammy.20240217.040417	ros-humble-tango-icons-vendor
+1.2.1-1jammy.20230721.201121	ros-humble-test-msgs
+0.25.6-1jammy.20240217.053651	ros-humble-tf2
+0.25.6-1jammy.20240217.083335	ros-humble-tf2-eigen
+0.25.6-1jammy.20240217.083342	ros-humble-tf2-geometry-msgs
+0.25.3-1jammy.20230721.203401	ros-humble-tf2-msgs
+0.25.6-1jammy.20240217.070501	ros-humble-tf2-py
+0.25.6-1jammy.20240217.082007	ros-humble-tf2-ros
+0.25.6-1jammy.20240217.071724	ros-humble-tf2-ros-py
+2.5.1-1jammy.20240415.140805	ros-humble-theora-image-transport
+0.8.3-2jammy.20230623.023802	ros-humble-tinyxml-vendor
+0.7.5-2jammy.20230623.023741	ros-humble-tinyxml2-vendor
+4.1.1-1jammy.20240217.035505	ros-humble-tracetools
+2.0.2-2jammy.20230623.023822	ros-humble-uncrustify-vendor
+2.2.1-3jammy.20240217.050949	ros-humble-unique-identifier-msgs
+2.6.0-2jammy.20230721.194636	ros-humble-urdf
+2.6.0-2jammy.20230718.201713	ros-humble-urdf-parser-plugin
+3.0.2-2jammy.20230721.193627	ros-humble-urdfdom
+1.0.6-2jammy.20230623.024115	ros-humble-urdfdom-headers
+4.2.3-1jammy.20240217.061533	ros-humble-visualization-msgs
+2.0.8-1jammy.20240217.032951	ros-humble-xacro
+8.0.2-1jammy.20230623.023939	ros-humble-yaml-cpp-vendor
+0.15.9-1jammy.20240217.034736	ros-humble-zstd-vendor
diff --git a/tmp/print_ros_versions.sh b/tmp/print_ros_versions.sh
new file mode 100755
index 00000000..f58e09ac
--- /dev/null
+++ b/tmp/print_ros_versions.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+set -eux
+
+cur_dir=$(cd $(dirname ${BASH_SOURCE}) && pwd)
+cd ${cur_dir}
+
+dpkg --list ros-humble-* \
+    | grep ^ii \
+    | awk '{print $3 "\t" $2}' \
+    > ./print_ros_versions.output.txt